\normalsize
\appsection{Experimental Results of MinCost SAT Solvers}
\label{appendix:cost-time}

Here we present the detailed results, in terms of both total action
costs and problem solving time. Under the SAT based framework for
CSTE planning, we compare several MinCost SAT solvers, including
MiniSAT (no-opt), basic BB-DPLL algorithm (base), BB-DPLL using the
lower bounding function (+h), BB-DPLL using the new branching
heuristic (+heu), BB-DPLL with the both techniques (all), and MinCostChaff~(MCC). 
`T' and `C' are running time and total action costs of solutions, respectively.
The makespans of the solutions are not listed because all these settings
find solutions with the minimum makespans.
%Note that since planner MinCostChaff does not output the running time of each solution, we only present its total action costs of solutions.
%Note that since MinCostChaff does not output the running time of solutions, we only give the results of total action costs.

\input{./figure/tb-p2p}
\input{./figure/tb-matchlift}
\input{./figure/tb-matchliftv}
\input{./figure/tb-driverlog}
